Systems and methods for scanning an identification code of an unknown orientation

ABSTRACT

A system, method and corresponding apparatus are provided for storing, retrieving and delivering unit dose blisters in their natural, raw state (i.e., without over-wrapping or repackaging). In particular, a plurality of unit dose blister mounts are configured to position a corresponding plurality of different types of unit dose blisters in a predetermined, repeatable orientation, so that they can be retrieved and delivered using, for example, an automated retrieval system. The storage apparatus (or unit dose blister mount) may include a cavity that is configured to receive a unit dose medication or medication cavity of the unit dose blister in such a way that the unit dose blister lies substantially flat in the horizontal plane, enabling any identification information displayed on the underside of the unit dose blister (i.e., the side opposite the unit dose medication, or medication cavity) to be viewed.

CROSS-REFERENCE TO RELATED APPLICATIONS

This application is a continuation of U.S. application Ser. No.11/382,605 filed May 10, 2006 entitled System, Method and CorrespondingApparatus for Storing, Retrieving and Delivering Unit Dose Blisters,which is hereby incorporated herein in its entirety by reference.

FIELD OF THE INVENTION

Exemplary embodiments of the present invention relate generally tostoring and retrieving unit dose medications and, in particular, to ameans for storing unit dose blisters in their natural state in apredetermined, repeatable orientation.

BACKGROUND OF THE INVENTION

In a typical hospital, nursing home, or other similar institution,doctors will visit their patients on a routine basis and prescribevarious medications for each patient. In turn, each patient will likelybe placed on a certain medication treatment plan that requires that heor she take one or more doses of various medications daily. Somemedications may require that they be administered only at certain timesof the day (e.g., after meals) and/or at intervals of one or more hourseach day. In addition, patients may request certain medications on anelective basis for complaints, such as head or body aches. Theserequests are typically included with the doctor's medication request orprescription that he or she sends to a pharmacy of the hospital forfilling.

Medication requests or prescriptions received by the pharmacy willlikely be checked by a registered pharmacist and then entered into thepharmacy information system. These requests reflect not only orders thatare added to a particular patient's treatment plan, but also changes ina patient's existing treatment plan. The pharmacy information systemcombines this information with the patient's existing medicationschedule and develops a patient medication profile. Using the patientmedication profile, a fill list can be created that lists allmedications that must be distributed to all patients for a given timeperiod (e.g., a day).

In some instances, this list is printed and used by a pharmacist orpharmacy technician to hand pick each of the drugs needed for eachpatient (in the form of unit doses) and place those drugs incorresponding patient-specific medication containers (e.g., boxes, binsor bags). A registered pharmacist then checks the accuracy of thepatient order, and, assuming the order was accurate, the individualpatient boxes are loaded into a large transport cart and delivered to anursing unit.

Several drawbacks exist, however, to this method of medication retrievaland distribution. In particular, it is very time consuming and manpowerintensive. As a result, systems were created for automating the processof retrieving unit dose medications and distributing them to patientsaccording to their respective medication profiles. One example of such asystem is the ROBOT-Rx® system, offered by McKesson Automation Inc. anddescribed in U.S. Pat. Nos. 5,468,110, 5,593,267 and 5,880,443, thecontents of which are hereby incorporated herein by reference.

The ROBOT-Rx® system, like other similar systems, is a stationaryrobotic system that automates the drug storing, dispensing, returning,restocking and crediting process by using barcode technology. Inparticular, single doses of medications are packaged, for example in aclear plastic bag, so that each package contains a barcode correspondingto the package contents. The barcode may include the name of themedication, quantity, weight, instructions for use and/or expirationdate.

The packaged medications are then stored in a storage area, such as astorage rack having a frame and a plurality of rod supports on whicheach package can be hung in a manner that provides each with an X, Ycoordinate. Using the X, Y coordinates, packages can then be selected byan automated picking means (e.g., a robotic arm capable of moving atleast in three, mutually orthogonal directions designated X, Y and Z),for distribution to individual patients.

More specifically, in one instance, a pharmacist or technician maymanually enter the identification of a specific medication he or shewould like the automated system to retrieve, for example, as a patient'sfirst dose, in an emergency situation. The automated system, and, inparticular, a computer associated with the automated system, would thenlocate the desired medication (i.e., the X, Y and Z coordinates of themedication) and instruct the picking means to retrieve the medication atthat location. In another instance, the fill list created based on eachpatient's medication profile may be communicated to the computerassociated with the automated system, providing the automated systemwith a current list of all patients and their individual medicationneeds. The computer also maintains a database of all medications storedin the storage area along with their corresponding X, Y and Zcoordinates.

Patient-specific containers (e.g., drawers or bins) displaying barcodesthat include the corresponding patient's unique identification code areplaced on a conveyer belt associated with the automated system. At onepoint on the belt, a barcode reader reads the barcode displayed on thebox and communicates the patient's identification to the computer. Thecomputer will then retrieve the patient's medication needs from the filllist, and determine the corresponding coordinates for each medication byaccessing the database.

The computer can then guide the picking means to select the desired unitdose medications and deposit them in the patient-specific boxes orcontainers. In particular, the picking means, which also includes abarcode reader, moves to the designated location of a particularmedication, as instructed by the computer, scans the barcode displayedon the package containing the medication to determine the identificationof the medication contained in the package, and provides the identity tothe computer.

After the computer confirms that the correct unit dose medication iscontained in the package, the picking means will remove the package fromthe storage area (e.g., using a vacuum generator to produce suction topull the package off the rod, or other holding means, and hold thepackage until it can be deposited) and drop it into the patient-specificcontainer.

The process is repeated until the patient's prescription has been filled(i.e., until the patient-specific medication container contains eachdose of medication to be taken by the patient in the given time periodor, in the instance where the unit dose retrieved the first dose for anew patient, until that first dose has been retrieved). The conveyorbelt then moves the patient-specific container to a check station wherean operator can use yet another barcode reader to scan the barcode labelon the patient-specific container to retrieve and display the patient'sprescription, as well as to scan the barcodes on each package in thecontainer to verify that the medications are correct.

As described above, unit dose medications dispensed robotically aregenerally packaged into bags, boxes or a variety of other over-wrapsprior to being stored in the storage area. This repackaging effort isperformed for several reasons. First, the size and shape of the rawpackages vary greatly; therefore, without some commonality in productshape, robotic handling becomes extremely difficult. Second, whilerobotic systems typically rely on barcodes to identify the productsthroughout the process, the majority of products originating fromvarious manufacturers do not contain barcodes of any kind. It,therefore, becomes necessary in these instances to over-wrap the unitdose with a package containing a barcode for identification purposes.

While repackaging medications may solve these problems related tohandling doses in an automated fashion, this process introduces manyother issues for the hospital or similar institution. For example,repackaging adds material costs to the final product and requires bothadditional technician time to perform the packaging as well asadditional pharmacist time to validate the content of the packageagainst the description on the label. In addition, repacking by ahospital, or similar institution, shortens the expiration date of therepackaged item based on United States Pharmacopeia/National Formulary(USP/NF) repackaging standards.

In addition, at least one of the reasons for repackaging will soon nolonger exist. The Federal Drug Administration (FDA) has mandated thatall human drug products have a barcode on the smallest container orpackage distributed which, in many instances, is the unit dosemedication. This includes all human prescription drug products andover-the-counter drugs that are dispensed pursuant to an order in thehospital. This rule applies to manufacturers, repackagers, relabelersand private distributors. The barcode must contain, at a minimum, aNational Drug Code (NDC) in a linear barcode, in the Uniform CodeCouncil (UCC) or Health Industry Business Communications Council (HIBCC)format. Following the effective date of this mandate, assuming that theunit dose medications are the smallest container or package used,therefore, all unit dose medications will contain barcodes that can beused by robotic dispensing systems, thus eliminating the need tooverwrap or repackage merely for identification purposes.

A need, therefore, exists for a means for handling unit dose medicationsin their natural state in an automated dispensing system; thuseliminating the need for repackaging or over-wrapping the unit dosemedication. In particular, a need exists for a means of handling theunit dose medications in a manner that takes advantage of the barcodes,or similar identification codes, contained on the medication, yetovercomes the obstacle of handling raw packages of various sizes andshapes.

BRIEF SUMMARY OF THE INVENTION

In general, exemplary embodiments of the present invention provide animprovement over the known prior art by, among other things, providing ameans for storing and handling unit dose blisters, as well as singledose medications packaged in other manners, in their natural state(i.e., without requiring that the medication be over-wrapped orrepackaged).

In particular, according to one aspect of the present invention, astorage apparatus is provided that is configured to accept a pluralityof different types of unit dose packages. The storage apparatus of thisaspect of the present invention may comprise a carrier configured tohold a plurality of different types of unit dose packages of differentshapes and sizes, such that when held, respective unit dose packages lieand are maintained in a predetermined plane relative to the carrier.

In one exemplary embodiment, the plurality of unit dose packagescomprise a plurality of unit dose blisters, wherein respective unit doseblisters comprise a support panel and a unit dose medication carried bythe support panel. In particular, according to this exemplaryembodiment, when the unit dose blister is held by the carrier, thesupport panel is maintained in the predetermined plane relative to thecarrier. In another exemplary embodiment, the carrier defines a cavitythat is configured to receive the unit dose medication of the unit doseblister.

In one exemplary embodiment, the support panel of the unit dose blisterhas first and second sides with the unit dose medication proximate thefirst side and the second side including an identification code thatincludes information identifying the unit dose medication. Theidentification code may be selected from the group consisting of abarcode, a radio frequency identification tag and text. In thisexemplary embodiment, the carrier is configured to contact the firstside of the support panel such that the identification code is exposed.For example, the carrier may include a surface, through which the cavityopens, such that the support panel of each unit dose blister contactsand is supported by the surface in a plane substantially parallel to thesurface of the carrier. The carrier of this exemplary embodiment, maydefine a plurality of cavities, each configured to receive the unit dosemedication of a respective unit dose blister, such that the supportpanel of each unit dose blister is maintained in a respectivepredetermined plane relative to the carrier.

In one exemplary embodiment, the apparatus further includes a retentionmechanism configured to hold the unit dose package in the predeterminedplane relative to the carrier. In another exemplary embodiment, theapparatus may further include a clipping mechanism configured to holdthe carrier in a storage system while the storage system is in motion.In still another exemplary embodiment, the carrier may include a uniqueidentifier capable of identifying at least one of the carrier itself orthe unit dose medication carried by the support panel of the carrier.

In accordance with another aspect of the present invention, a system isprovided for retrieving and delivering one or more unit dose packages.In one exemplary embodiment, the system includes a storage system, aunit dose package mount, a picking system and a controller. The pickingsystem of this exemplary embodiment may be configured to retrieve a unitdose package from the storage system and to delivery the unit dosepackage to a predefined location. The controller of this exemplaryembodiment may be capable of directing the picking system to retrieveand deliver the unit dose package.

The storage system of this exemplary embodiment may be capable ofstoring a plurality of unit dose packages. The unit dose package mountof this exemplary embodiment may be configured to position a pluralityof different types of unit dose package of different shapes and sizes,such that respective unit dose packages are repeatably maintained in apredetermined plane. The unit dose package mount may hold and position arespective unit dose package while the unit dose package is stored bythe storage system and/or while the unit dose package is at thepredefined location to which the picking system delivered the unit dosepackage. In any event, the unit dose package mount advantageouslymaintains the unit dose package in the repeatable position while theunit dose package is inspected and verified.

In one exemplary embodiment, the plurality of unit dose packagescomprise a plurality of unit dose blisters, wherein respective unit doseblisters comprise a support panel and a unit dose medication carried bythe support panel, such that the support panel is repeatedly maintainedin the predetermined plane by the unit dose package mount.

In one exemplary embodiment, the unit dose package mount comprises acarrier defining a cavity therein, wherein the cavity of the carrier isconfigured to receive the unit dose medication, while the support panelof the unit dose blister lies and is maintained in a predetermined planerelative to the carrier.

In another exemplary embodiment, the support panel of each unit doseblister has opposed first and second sides with the unit dose medicationproximate the first side and the second side including an identificationcode. The system of this exemplary embodiment may further include anidentification code reader configured to read the identification code ofthe unit dose blister, while the unit dose blister is positioned in thepredetermined plane to determine an identity of the unit dose medicationand to transmit the identity to the controller. The controller of thisexemplary embodiment may, in turn, be further capable of receiving theidentity and of verifying that the unit dose medication is correct basedat least in part on the identity. In one exemplary embodiment, theidentification code includes at least one of a barcode, radio frequencyidentification (RFID) tag, or text, and the code reader includes atleast one of a barcode or RFID tag reader, or a camera.

In one exemplary embodiment, the storage system is capable of storing aplurality of unit dose package mounts with each containing at least oneunit dose package. The picking system of this exemplary embodiment mayinclude a mount removal mechanism configured to at least partiallyremove respective unit dose package mounts from the storage system. Inone exemplary embodiment, the unit dose package mount includes a handleand the mount removal mechanism comprises a gripper configured to gripthe handle of the unit dose package mount and an extension mechanismconfigured to extend the gripper from a first position to a secondposition, wherein the second position is proximate to the unit dosepackage mount such that the gripper is capable of engaging the handle ofthe unit dose package mount. The mount removal mechanism may furtherinclude a retraction mechanism configured to retract the gripper fromthe second position to the first position once the handle has beengripped. In one exemplary embodiment, the gripper is configured to gripthe handle of the unit dose package mount when the gripper and handleare not aligned.

In one exemplary embodiment, the picking system includes a packageremoval mechanism configured to remove one or more unit dose packagesfrom respective unit dose package mounts following identification of theunit dose package. The package removal mechanism of one exemplaryembodiment includes one or more vacuum generators configured to generatesufficient suction to remove the unit dose package from the unit dosepackage mount.

In one exemplary embodiment, the controller stores a location associatedwith respective unit dose packages within the storage system. Thecontroller in another exemplary embodiment stores one or moreprescription orders, each comprising an identification number andcorresponding one or more unit dose medications.

According to yet another aspect of the present invention, a method isprovided of retrieving and delivering one or more unit dose packages. Inone exemplary embodiment, the method includes: (1) determining alocation in a storage system at which a unit dose package is stored; (2)removing the unit dose package from the storage system; (3) deliveringthe unit dose package to a predefined location; and (4) positioning theunit dose package delivered to the predefined location and having anyone of a plurality of different shapes and sizes, such that the unitdose package is maintained in a predetermined plane.

In one exemplary embodiment, the one or more unit dose packages compriseone or more unit dose blisters, wherein respective unit dose blisterscomprise a support panel and a unit dose medication carried by thesupport panel. In this exemplary embodiment, positioning the unit dosepackage such that the unit dose package is maintained in a predeterminedplane comprises positioning the unit dose blister such that the supportpanel is so maintained.

In one exemplary embodiment, the support panel has opposed first andsecond sides with the unit dose medication proximate the first side andthe second side including an identification code that includesinformation identifying the unit dose medication. The method of thisexemplary embodiment may further include reading the identification codeof the unit dose blister to determine an identity of the unit dosemedication when the unit dose blister is delivered to the predefinedlocation, and verifying that the unit dose medication is correct, basedat least in part on the identity.

In one exemplary embodiment, the method further includes reading anidentification code associated with a patient-specific medicationcontainer to determined an identity of a patient for which aprescription is to be filed, and identifying, based at least in part onthe identity, one or more single dose medications necessary to fill theprescription. The method may further include delivering the unit doseblister to the patient-specific medication container followingverification of the unit dose medication. The method of anotherexemplary embodiment may include reading an identification codeassociated with a floor stock container to determine one or more unitdose medications necessary for restocking.

In one exemplary embodiment, positioning the unit dose blister includesholding the unit dose blister with a carrier that defines a cavitytherein that is configured to receive a plurality of different types ofunit dose blisters of different shapes and sizes, wherein holding theunit dose blister comprises disposing the unit dose medication withinthe cavity and maintaining the support panel in a predetermined planerelative to the carrier. In one exemplary embodiment, maintaining thesupport panel in the predetermined plane relative to the carriercomprises maintaining the support panel as a result of contact betweenthe support panel and the carrier.

According to yet another aspect of the present invention, a method isprovided of retrieving and delivering one or more unit dose packages. Inone exemplary embodiment, the method includes: (1) storing a pluralityof unit dose packages of different shapes and sizes in a storage system,such that respective unit dose packages maintained in a predeterminedplane; (2) determining a location in the storage system at which one ofthe plurality of unit dose packages is stored; (3) removing the unitdose package from the storage system; and (4) delivering the unit dosepackage to a predefined location.

In one exemplary embodiment, the plurality of unit dose packagescomprises a plurality of unit dose blisters, wherein respective unitdose blisters comprise a support panel and a unit dose medicationcarried by the support panel. In this exemplary embodiment, storing aplurality of unit dose packages such that respective unit dose packagesare maintained in a predetermined plane comprises storing a plurality ofunit dose blisters such that respective support panels are maintained inthe predetermined plane.

In one exemplary embodiment, storing the plurality of unit dose blistersincludes holding respective the unit dose blisters with a carrier thatdefines a cavity therein that is configured to receive a plurality ofdifferent types of unit dose blisters of different shapes and sizes,wherein holding the unit dose blister comprises disposing the unit dosemedication within the cavity and maintaining the support panel in apredetermined plane relative to the carrier. In one exemplaryembodiment, the support panel is maintained in the predetermined planerelative to the carrier as a result of contact between the support paneland the carrier.

BRIEF DESCRIPTION OF THE SEVERAL VIEWS OF THE DRAWING(S)

Having thus described the invention in general terms, reference will nowbe made to the accompanying drawings, which are not necessarily drawn toscale, and wherein:

FIG. 1 illustrates several unit dose blisters;

FIGS. 2 and 3 illustrate a storage, retrieval and delivery system inaccordance with exemplary embodiments of the present invention;

FIG. 4 illustrates a storage system in accordance with exemplaryembodiments of the present invention;

FIGS. 5A & 5B illustrate a picking system in accordance with exemplaryembodiments of the present invention;

FIG. 6A illustrates a unit dose blister mount removal mechanism inaccordance with exemplary embodiments of the present invention;

FIG. 6B illustrates removal of a unit dose blister mount in accordancewith exemplary embodiments of the present invention;

FIG. 7A illustrates the Z-Axis component of a picking system inaccordance with exemplary embodiments of the present invention;

FIG. 7B illustrates a vacuum pump having an offset cavity for filteringair particles in accordance with exemplary embodiments of the presentinvention;

FIGS. 8A and 8B illustrate a tray delivery/removal mechanism inaccordance with exemplary embodiments of the present invention;

FIG. 9 is a block diagram of a controller, or similar electronic device,capable of performing various functions as part of a storage, retrievaland delivery system in accordance with exemplary embodiments of thepresent invention;

FIGS. 10-12 illustrate a unit dose blister mount according to exemplaryembodiments of the present invention;

FIG. 13 illustrates the partial removal of a unit dose blister mountfrom a storage system in accordance with exemplary embodiments of thepresent invention;

FIG. 14 illustrates a method of storing unit dose blister mountsaccording to one exemplary embodiment of the present invention; and

FIG. 15 is a flow chart illustrating the steps which may be taken inorder to store, retrieve and delivery unit dose blisters in accordancewith an exemplary embodiment of the present invention.

DETAILED DESCRIPTION OF THE INVENTION

The present invention now will be described more fully hereinafter withreference to the accompanying drawings, in which some, but not allembodiments of the inventions are shown. Indeed, these inventions may beembodied in many different forms and should not be construed as limitedto the embodiments set forth herein; rather, these embodiments areprovided so that this disclosure will satisfy applicable legalrequirements. Like numbers refer to like elements throughout.

Overview:

In general, exemplary embodiments of the present invention provide ameans for storing unit dose packages in their natural, raw state in arepeatable, predetermined orientation, so that they can be selectivelyretrieved and delivered, for example by one of the automatic retrievalsystems discussed above (e.g., the ROBOT-Rx® system). In particular, bymaintaining the unit dose packages in a repeatable orientation, theidentification codes associated with respective packages are capable ofbeing read prior to dispelling the packages from the system. Exemplaryembodiments, therefore, eliminate the need to over-wrap or repackage theunit dose packages (e.g., unit dose blisters) prior to use in theautomated systems.

The term “unit dose blister” refers to a unit dose medication, or one ormore oral solids of the same or different strength, form or type, thathas been sealed in a package, such as a vinyl and foil package in whichthe vinyl conforms to the shape of the medication. The vinyl istypically sealed to a foil that offers a flat surface with medicationinformation printed on the opposite side from the vinyl cavity. FIG. 1illustrates several examples of unit dose blisters. As shown, the unitdose blister may include a support panel having opposed first 10 andsecond 20 sides, wherein the unit dose medication 30 (i.e., the one ormore oral solids) is positioned proximate the first side 10 of thesupport panel, and an identification code 40 (e.g, a barcode, radiofrequency identification (RFID) tag, or simple text including any numberand combination of alphanumeric characters) including informationidentifying the unit dose medication 30 is displayed on the second side20 of the support panel.

When unit dose medications are packaged into a blister, they aretypically packaged with several medications per blister card; thus,there are a corresponding number of equally-spaced vinyl formed cavitiesper blister card. These cavities are typically separated by aperforation. A singulated blister is one that has been separated from ablister card typically along its perforation.

As one of ordinary skill in the art will recognize, while reference ismade throughout to unit dose blisters of the form described above, theseunit dose blisters provide just one form in which unit dose medicationsmay be packaged. Use of unit dose blisters in the description ofexemplary embodiments included herein should not, therefore, be taken aslimiting the scope of the present invention to use with such unit dosepackages. In contrast, other unit dose packages may similarly be used inconnection with exemplary embodiments without departing from the spiritand scope of the present invention.

System:

Reference is now made to FIGS. 2 and 3, which illustrate one example ofa storage, retrieval and dispensing system 100, in which exemplaryembodiments of the present invention may be implemented. As one ofordinary skill in the art will recognize, the system 100 illustrated anddescribed herein is just one manner in which the unit dose packages, orpackages containing unit dose medications (e.g., unit dose blisters) maybe handled in their natural or raw state (i.e. not over-wrapped orrepackaged) in accordance with exemplary embodiments of the presentinvention. The system 100 of FIGS. 2 and 3 is provided for exemplarypurposes only and should not be taken as limiting the scope of theinvention in any way, since other systems may likewise be implementedwithout departing from the spirit and scope of the present invention.

The system 100 of exemplary embodiments may include a means for storinga plurality of unit dose blisters of various shapes and sizes, referredto herein as a “storage system” 102. As shown, the storage system 102 ofone exemplary embodiment, which is also illustrated in FIG. 4, may be inthe form of one or more carousels capable of rotating around a rod orpole 110 extending upward through the center of the carousel 102. Whilenot shown, the storage system may, alternatively, comprise a lineartrack that is stationary and essentially resembles a plurality of pigeonholes or mail slots each including a unit dose package mount (e.g., aunit dose blister mount), which is described in detail below. Returningto FIGS. 2 and 3, the rod or pole 110 may be configured to support aplurality of circular panels 120 positioned at some distance from oneanother, wherein each panel is, in turn, configured to support aplurality of unit dose package mounts 140 (e.g., unit dose blistermounts) (not shown in FIG. 2 or 4), via a plurality of package mountreceptacles 150 (e.g., blister mount receptacles—shown in FIG. 4).

In this regard, the blister mount receptacles 150 of one embodimentshown in FIG. 4 extend between adjacent panels 120 so as to define aplurality of wedge-shaped cavities. While the panels 120 could be spacedand the unit dose blister mounts 140 sized such that each wedge-shapedcavity defined by the blister mount receptacles 150 received a singleunit dose blister mount 140, the storage system 102 of the illustratedembodiment is capable of storing a plurality of unit dose blister mounts140 within each wedge-shaped cavity. In this regard, the blister mountreceptacles 150 can include tracks for engaging corresponding grooves orother features defined by the unit dose blister mounts 140 such thatmultiple unit dose blister mounts 140 can be inserted into a singlestorage location, e.g., a single wedge-shaped cavity, in an organizedmanner.

The unit dose blister mounts 140 of exemplary embodiments are eachconfigured to position the plurality of unit dose blisters of variousshapes and sizes in a predetermined, repeatable orientation within thestorage system 102. In particular, the unit dose blister mounts 140 areconfigured to maintain respective unit dose blisters (or similar unitdose packages) in a predetermined plane relative to the unit doseblister mount 140. Exemplary embodiments of the unit dose blister mount140 are illustrated in FIGS. 10-12, and will be discussed in furtherdetail below. An exemplary storage system 102 may comprise two carouselseach capable of holding 6,000 unit dose blisters, or similar unit dosepackages, thus providing a means for storing up to 12,000 unit dosemedications. To increase storage, in an alternative embodiment, notshown, the round carousel may be replaced with an oval-shaped carousel.In this exemplary embodiment, while the radius of the oval carousel maybe the same as the circular carousel illustrated in FIGS. 2-4, the ovalor race track shaped carousel would provide additional storage forblisters along the flat sections, thus enabling the storage per carouselto increase substantially.

As one of ordinary skill in the art will recognize, other means forstoring a plurality of unit dose packages (e.g., unit dose blisters) intheir natural, raw state may likewise be used without departing from thespirit or scope of the present invention. For example, the storagesystem 102 may resemble a vending machine, wherein the unit dose packagemounts 140 comprise springs having a plurality of coils, each coil beingcapable of holding a unit dose package, such that when the spring isturned, the unit dose package at one end of the spring will be released.In one exemplary embodiment, the storage system 102 may include severalrows and columns of such springs, or unit dose package mounts.

The system may further include a means for selectively retrieving a unitdose blister (or similar unit dose package) from the storage system anddelivering the unit dose blister to a specified location, referred toherein as a “picking system” 201 (not shown in FIG. 2). The pickingsystem 201 of one exemplary embodiment, which is illustrated in FIGS. 5Aand 5B, may include X-Axis 220, Y-Axis 230 and Z-Axis 240 componentsconfigured to enable the picking system 201 to move in three, mutuallyorthogonal directions, designated X, Y and Z, in order to retrieve aunit dose blister, typically while disposed within a unit dose blistermount 140, from the storage system 102.

The Y-Axis component 230 may comprise one or more timing belts driven bya closed-loop motor and configured to move the X and Z-Axis components220, 240 in the Y-direction (e.g., up and down). The X-Axis component220 may, likewise, be driven by a closed-loop motor (e.g., a servomotor) to move linearly in the X-direction (e.g., left and right). Inembodiments in which the unit dose blister is disposed within a unitdose blister mount while stored within the storage system 102, theX-Axis component 220 may include one or more cantilevered unit dosepackage (e.g., blister) mount removal mechanisms 224L, 224R (referred toherein as “mount removal mechanisms”), illustrated in FIG. 6A, which areconfigured to remove a unit dose blister mount 140 from the storagesystem 102 and present it to a blister removal mechanism 242, which isdiscussed in further detail below. Where, for example, the storagesystem 102 of the retrieval and delivery system 100 comprises twocarousels, the X-Axis component may include both a left 224L and a righthand 224R mount removal mechanism.

As shown in FIG. 6A, the mount removal mechanism 224L, 224R may comprisea gripper 226 capable of gripping the handle 142 of a unit dose blistermount 140. In one exemplary embodiment, the gripper is configured togrip the handle while off center, in other words, despite the fact thatthe gripper and handle are not completely aligned. The mount removalmechanism 224L, 224R may further include an extension and a retractionmechanism 223 configured to extend the mount removal mechanism 224L,224R back and forth from the location of the unit dose blister mount 140to the location where the unit dose blister mount 140 is presented tothe blister removal mechanism 242. In other words, the mount removalmechanism 224L, 224R may be configured to move from a first position toa second position proximate the unit dose blister mount 140, to grip thehandle 142 of the unit dose blister mount 140, and to then retract awayfrom the second position, in order to present the unit dose blistermount 140 to the blister removal mechanism 242.

FIG. 6B provides an illustration of this mount removal process inaccordance with exemplary embodiments of the present invention. Asshown, at the first stage, the mount removal mechanism 244L,R extends toa position proximate the storage system 102, such that the fingers 226 fof the gripper 226 of the mount removal mechanism 244L,R aresubstantially flush with the unit dose blister mount 140, and the handle142 of the unit dose blister mount 140 lies somewhere between thosefingers 226 f. As noted above, and as shown in Stage 1 of FIG. 6B, it isnot necessary that the gripper 226 (or the mount removal mechanism244L,R) align perfectly with the handle 142 of the unit dose blistermount 140 (or with the unit dose blister mount itself). In other wordsit is not necessary that the handle 142 lie directly in the center ofthe gripper fingers 226 f. In particular, in one exemplary embodiment,the gripper 226 lies on a bearing (not visible in FIG. 6B) that enablesthe gripper to slide, or shift, in a direction substantiallyperpendicular to the centerline 246 of the mount removal mechanism 244L,R. As a result, as the gripper fingers 226 f close on the handle 142(Stage 2), the gripper 226 shifts in either direction perpendicular tothe general motion of the mount removal mechanism 244L, R in order tocomply with the centerline of the unit dose blister mount 140. As thegripper 226 then pulls the unit dose blister mount 140 from the storagesystem 102 (Stage 3), the gripper 226 is again free to float in eitherdirection substantially perpendicular to the centerline 246 of the mountremoval mechanism 244L, R until the gripper 226 reaches the gripperwrist 226 w (or alignment bars), which brings the gripper 226 back to aknown, repeatable position that is, for example, in alignment with thecenterline 246 of the mount removal mechanism 244L, R. In other words,the gripper wrist 226 w interacts with the gripper 226 in order torealign the gripper 226, and consequently the unit dose blister mount140, in order to facilitate accurate identification capture andsubsequent blister removal. In order for the unit dose blister mount 140to more easily shift as the gripper 226 is pulling it 140 from thestorage system 102, in one exemplary embodiment, the unit dose blistermount 140 is shaped as a wedge (as shown in FIGS. 10A and 10B), whereinthe tail, or the end opposite the handle 142, is narrower than the endcomprising the handle 142; thus enabling it to shift while still withinor in contact with the storage system 102.

After the unit dose blister has been scanned and, possibly, removed fromthe unit dose blister mount 140, for example in the manner discussedbelow, the mount removal mechanism 244L, R will replace the unit doseblister mount 140 in the storage system 102. In particular, the gripper226 disengages from the wrist 226 w and is once again free to float backand forth in either direction substantially perpendicular to thecenterline 246. As the mount removal mechanism 244L, R pushes the unitdose blister mount 140 back into the storage system 102, the unit doseblister mount 140 will guide itself into its nested position, and thegripper 226 will follow. Once the unit dose blister mount 140 is inplace within the storage system 102, the gripper fingers 226 f willopen, or release the unit dose blister mount handle 142. As the fingers226 f are opening, the gripper 226 will again realign itself with thecenterline 246 using another set of finger alignment bars 226 b, whichcan be seen in FIG. 6A. In particular, the fingers 226 f will open onlyuntil they come into contact with the finger alignment bars 226 b, whichwill re-center the gripper 226 along the mount removal mechanism 244L, Rcenterline 246.

The X-Axis component 220 may further comprise one or more traydelivery/removal systems 228, shown in FIGS. 2, 8A and 8B, which may beused by the storage, retrieval and dispensing system 100 to restock thestorage system 102 with unit dose blisters (or similar unit dosepackages). As illustrated in FIGS. 8A and B, in one exemplaryembodiment, the tray delivery/removal system 228 may comprise a drawer222 that is capable of being opened (i.e., pulled away from the storage,retrieval and dispensing system 100 as shown in FIG. 8B) or closed (asshown in FIG. 8A) for the purpose of loading and unloading restock trays229, and is divided into two sections 222F and 222E, wherein eachsection is configured to hold approximately 25 restock trays 229, eachof which further configured to hold approximately 20 singulated unitdose blisters. The first section 222F may be used to hold restock trays229 that are full of unit dose blisters and have been placed in the traydelivery/removal system 228, for example, by a technician for thepurpose of restocking the storage system 102. In contrast, the secondsection 222E may hold empty restock trays 229, or trays from which thepicking system 201 has already removed the unit dose blisters and placedthem in the storage system 102.

To illustrate, in one exemplary embodiment, blisters received from anin-house or third party packager may be singulated (i.e., separated intounit doses) and then manually loaded into the restock trays 229. Inaddition, unit dose blisters that have been returned, for whateverreason, from a patient (or cabinet) may also be loaded into the restocktrays 229. A pharmacy technician may then open the drawer 222, load thetray 229 (or stack of trays) into the first section 222F of the drawer222, and then close the drawer 222 to enable the restocking process tobegin. Once the first section 222F of the drawer 222 has been filledwith restock trays 229 carrying unit dose blisters (or at any point whenit is desired to restock the storage, retrieval and dispensing system100), a tray removal system 227, essentially comprising a liftingmechanism 227 a, a reversing conveyor 227 b, a plurality of tray holdinglatches 227 c and a corresponding plurality of tray holding latchactuators 227 d will singulate the bottom tray 229 in the stack of traysin the full section 222F of the drawer 222, and transfer the singulatedtray 229 to the picking system 201. In particular, in one exemplaryembodiment, the lifting mechanism 227 a will extend upward lifting thestack of trays 229 in the full section 222F of the drawer 222 off of thetray holding latches 227 c, which are configured to hold the stack oftrays 229. The tray holding latch actuators 227 d can then be extendedoutward in order to retract the tray holding latches 227 c, in otherwords, to remove the tray holding latches 227 c from the bottom of thestack of trays 229. The lifting mechanism 227 a can then retract or dropthe height of one tray 229, and the tray holding latch actuators 227 dcan then be extended back inward in order to allow the tray holdinglatches 227 c to extend under the stack of trays one tray 229 up fromthe bottom tray 229. Finally, the lifting mechanism 227 a can lower therest of the way, such that the tray holding latches 227 c now supportthe remaining trays (i.e., the original stack of trays minus the bottomtray), and the singulated bottom tray now rests on the reversingconveyer 227 b.

Once the singulated tray has been transferred to the picking system viathe reversing conveyer 227 b, the picking system 201 can then depositeach unit dose blister into a unit dose blister mount 140 at a specifiedlocation within the storage system 102. Once all of the unit doseblisters have been removed from the restock tray 229 the tray removalsystem 227 will transfer the empty tray 229 to the second section 222Eof the drawer 222 (in a manner substantially opposite that discussedabove with respect to singulation of the bottom full tray), from whichit can be removed by a technician upon opening the drawer 222. In oneexemplary embodiment, the system 100 may further include a means forsingulating the various unit dose blisters prior to or after placingthem in the tray delivery/removal system 228, thus eliminating the needfor the pharmacy technician to manually singulate the blisters.

Returning to FIG. 4A, the Z-Axis component 240 of the picking system201, which is shown in more detail in FIG. 7A, may comprise one or moreunit dose package (e.g., blister) removal mechanisms 242 configured toremove one or more unit dose blisters from a unit dose blister mount 140when the unit dose blister mount 140 has been presented to the blisterremoval mechanism 242. The blister removal mechanism 242 may likewise beconfigured to remove unit dose blisters from the restock trays 229during the restocking process described above in conjunction with thetray delivery/removal system 228. In one exemplary embodiment, theblister removal mechanism 242 comprises one or more vacuum generators243 capable of generating a sufficient suction to remove the unit doseblister from the mount 140 or tray 229, for example using one or morevacuum cups 245, and to hold the unit dose blister until it can bedeposited in a specified location, such as a container that isassociated with the overall system 260 (shown in FIG. 5B) and from whichthe unit dose blister may, for example, be dispelled from the back ofthe system into a patient-specific medication container, or a floorstock container (discussed below) or out a chute in the front of thesystem, for example, for the purpose of filling a patient first dose(i.e., not as part of a routine fill process).

In one exemplary embodiment, the vacuum generators are capable ofgenerating a local vacuum through the use of one or more diaphragmelectric pumps capable of being turned on and off. In particular, ratherthan requiring the use of compressed air, which can be costly,inefficient and fairly disruptive in terms of the noise and requiredpiping associated with the use of an air compressor, the system ofexemplary embodiments of the present invention uses one or more electricvacuum generators (e.g., of the form described and available athttp://www.knf.com/oemair.htm) to produce a local vacuum, thuseliminating the need for compressed air and enabling the storage,retrieval and delivery system to essentially be moved into a facilityand plugged into an electric power outlet in the wall.

In addition, in another exemplary embodiment, each pump includes anoffset cavity 247 used to filter the air coming through the vacuum pump,as illustrated in FIG. 7B. In particular, when air and particles 248(e.g., dust or other particles lifted from the unit dose blister)flowing through the vacuum at a high velocity reach the cavity 247, thevelocity of the particles 248 slows down and the particles 248 begin togather in the cavity 247. Because the cavity 247 is slightly offset fromthe air flow 249, these particles 248 are removed from and no longerobstruct the desired air flow.

As one of ordinary skill in the art will recognize, while the foregoingprovides one means for selectively retrieving and delivering unit doseblisters, other means may similarly be used without departing from thespirit and scope of the present invention.

Moreover, the retrieval and dispensing system 100 may further includeone or more readers 244, including, for example, barcode or radiofrequency identification (RFID) tag readers, cameras, or the like,capable of reading the identification code 40 displayed on the unit doseblister located in the unit dose blister mount 140 and communicating theinformation obtained (e.g., the identity of the unit dose medication, orone or more oral solids, held by the unit dose blister) to a controllerassociated with the storage, retrieval and delivery system 100, for thepurpose of verifying that the correct medication has been selected. Asshown in FIG. 7A, the one or more code readers 244 can be carried by theZ-Axis component 240.

In one exemplary embodiment, a special scanning technique may beemployed in order to ensure that the identification code is accuratelyread, despite the fact that, other than the plane in which theidentification code lies, the specific orientation of the identificationcode is not known. In particular, while exemplary embodiments of thepresent invention provide an apparatus that is configured to hold theunit dose packages so that they lie in a predetermined plane (e.g.,substantially parallel to the surface of the apparatus), the apparatusdoes not dictate how the unit dose package is otherwise oriented withinthat plane. In some instances, for example where the identification codeis not omnidirectional (i.e., capable of being read from any direction),however, in order to read the identification code, its orientation mustbe determined. One way to determine the orientation has been torepeatedly scan the unit dose blister (or similar object) from left toright, top to bottom, and then diagonally at various angles, forexample, at five degree increments. However, this process can be verytime consuming and is still not guaranteed to locate or accurately scanthe identification code where, for example, the identification code doesnot happen to be at one of the angles scanned.

Exemplary embodiments of the present invention provide an improvedmanner of determining the orientation of the identification code thatrelies on the fact that, where the unit dose package comprises a unitdose blister having a rectangular support panel, as discussed above, theidentification code is parallel to two sides of the support panel (SeeFIG. 1). According to exemplary embodiments of the present invention,the code reader 244 first locates the edges of the unit dose blister,for example, based at least in part on the contrast of color or darknessbetween the unit dose blister and the unit dose blister mount (which canbe seen in FIG. 12, discussed below). The scanner or code reader 244will then begin scanning in directions parallel the edges of the unitdose blister until it locates the identification code. Because thismethod greatly reduces the number of directions in which the code reader244 must scan, exemplary embodiments of the present invention greatlyreduce the time required to locate and scan the identification codewhere the orientation of the identification code is unknown.

In addition to the foregoing, another issue that often arises whenattempting to scan or read identification codes is the amount of lightthat is reflected off the item being scanned. In particular, where thecode reader 244 is placed directly above the unit dose blister, too muchlight may be reflected off the unit dose blister, preventing theidentification code from being accurately read. One solution to thisissue is to offset the code reader 244 slightly to the left or right ofthe center of the item being scanned (e.g., the unit dose blister), suchthat the light comes down at an angle from the code reader 244 and is,therefore, reflected away from the code reader 244 upon reaching theunit dose blister. This solution, however, may cause additionalproblems, since the orientation of the identification code is notconstant and, therefore, the identification codes may have differentfocal distances (i.e., different distances between where the light isemitted from the code reader 244 and the point on the unit dose blisterwhere the identification code can be read). The result is that, eventhough the code reader 244 may scan over the identification code, theidentification code may not be in focus and, therefore, may not be ableto be read accurately. This additional problem may be solved byexemplary embodiments of the present invention by automatically changingthe focal distance as the code reader 244 repeatedly scans the unit doseblister until it locates and identification code and is able toaccurately read it.

The storage, retrieval and delivery system 100 of exemplary embodimentsmay further comprise a controller, or similar processing device, capableof directing the picking system 201 to retrieve and deliver thenecessary unit dose blisters in order to fill a patient's prescriptionorder. FIG. 9 is a block diagram of a controller, or similar processingdevice, capable of operating in accordance with an exemplary embodimentof the present invention. As shown, the controller may include variousmeans for performing one or more functions in accordance with exemplaryembodiments of the present invention, including those more particularlyshown and described herein. It should be understood, however, that thecontroller, or similar processing device, may include alternative meansfor performing one or more like functions, without departing from thespirit and scope of the present invention. As shown, the controller cangenerally include means, such as a processor 910 connected to a memory920, for performing or controlling the various functions of thecontroller. The memory can comprise volatile and/or non-volatile memory,and typically stores content, data or the like. For example, the memorytypically stores content transmitted from, and/or received by, thecontroller. Also for example, the memory typically stores softwareapplications, instructions or the like for the processor to performsteps associated with operation of the controller in accordance withembodiments of the present invention.

In one exemplary embodiment, the memory 920 stores a location associatedwith respective unit dose packages (e.g., unit dose blisters) storedwithin the storage system 102 of the retrieval and dispensing system100. For example, the memory 920 may store the X, Y and Z coordinate foreach unit dose blister currently stored in the system 100. In addition,the memory 920 may store one or more prescription orders, wherein eachorder includes an identification of a patient (e.g., a uniqueidentification number) and a corresponding description of one or moremedications needed by that patient for a given period of time. Thememory 920 may further store a software application capable, uponexecution by the processor 910, of determining one or more unit dosemedications corresponding with a particular patient, determining thelocation of each medication, and directing the picking system 201 toretrieve and verify each of the needed medications.

In one exemplary embodiment, the memory may further store computerprogram code for optimizing the placement of unit dose packages in thestorage system and of continuously updating and re-optimizing thatplacement. To illustrate, in one exemplary embodiment, statistical datamay be gathered and analyzed in order to determine which medications(e.g., type, brand, dosage, etc.) are used most frequently at a giventime. Unit dose packages containing these medications may, in turn, beplaced in close proximity to one another, thus reducing the amount ofmovement required by the picking system within any given period of time.The next most frequently used medications may further be placed, forexample, along the outside perimeter of the region where the mostfrequently used medications have been placed, and so on and so forth.Because certain medications are more popular at certain times (e.g., fluseason), in one exemplary embodiment, the statistical data may beperiodically updated in order to enable the placement of the unit dosepackages to be continuously re-optimized.

In addition to the memory 920, the processor 910 can also be connectedto at least one interface or other means for displaying, transmittingand/or receiving data, content or the like. In this regard, theinterface(s) can include at least one communication interface 930 orother means for transmitting and/or receiving data, content or the like,as well as at least one user interface that can include a display 940and/or a user input interface 950. The user input interface, in turn,can comprise any of a number of devices allowing the controller toreceive data from a user, such as a keypad, a touch display, a joystickor other input device.

Storage Apparatus:

Reference is now made to FIGS. 10-12, which illustrate one example of aunit dose package mount 140 and, in particular, a unit dose blistermount, which may be used in order to position a unit dose package (e.g.,unit dose blister), in its natural/raw state (i.e., not over-wrapped orrepackaged), in a repeatable, predetermined orientation (i.e., in apredetermined plane) so that it can be selectively retrieved anddelivered in accordance with exemplary embodiments of the presentinvention. In particular, the unit dose blister mount 140 of exemplaryembodiments is configured to accept a plurality of different types ofunit dose blisters of various shapes and sizes. As one of ordinary skillin the art will recognize, the unit dose blister mount 140 illustratedand described herein is just one example of a storage apparatus capableof accepting unit dose packages of various shapes and sizes and shouldnot be taken as limiting the scope of the present invention.

As shown in FIGS. 10A, 10B and 10C, the unit dose blister mount 140,also referred to herein as a “storage apparatus,” of one exemplaryembodiment may include a carrier 145 defining one or more cavities 143therein, wherein each cavity is configured to receive the unit dosemedication (i.e., the one or more oral solids of the same or differentstrength, form or type) of a unit dose blister while the support panelof the unit dose blister lies and is maintained in a predetermined planerelative to the carrier (as shown in FIG. 12). In particular, in oneexemplary embodiment, the carrier 145 includes a surface, through whichthe one or more cavities 143 open. In this embodiment, each cavity 143may receive the unit dose medication in such a way that the supportpanel of the unit dose is supported by the surface of the carrier 145 ina plane substantially parallel to the surface of the carrier. In thisregard, the unit dose medication is generally disposed within the cavity143 while the corners or other peripheral portions of the support panelcontact and are supported by the carrier 145. In another exemplaryembodiment, where the depth of the medication cavity of the unit doseblister is greater than the depth of the cavity 143 defined by thecarrier 145, the unit dose medication is in contact with the carrier 145(i.e., at the floor of the cavity 143), while the support panel issuspended just above the surface of the carrier, but remains in a planesubstantially parallel to that surface.

The size, shape and depth of the cavities 143 of one exemplaryembodiment were determined to accommodate a large sampling of unit doseblisters of various shapes and sizes. In particular, a compilation ofthe various sizes and shapes of a large number of unit dose blisters wasanalyzed. From the measurements of these unit dose blisters it wasdetermined, among other things, how large the cavity 143 would need tobe in order to receive at least a majority of the unit dose medicationspackaged in the unit dose blisters, and, on the other end of thespectrum, how small the cavity 143 would need to be in order to preventthe majority of unit dose blisters from falling entirely into thecavity. In one advantageous embodiment shown in FIGS. 10A and 10B, thecarrier 145 may be configured to hold two unit dose blisters, whereineach cavity 143 has an elliptical shape with major and minor dimensionsof 1.25 inches and 0.625 inches, respectively. FIG. 10A provides a topor overhead perspective of the unit dose blister mount of exemplaryembodiments, while FIG. 10B provides the bottom perspective. In analternative embodiment shown in FIG. 10C, the carrier may be configuredto hold a single unit dose blister using a circular cavity having adiameter of 1.1 inches.

While carriers and cavities having two different shapes and sizes havebeen shown, the carrier 145 can define other cavities 143 having stilldifferent shapes and sizes and may itself comprise different shapes andsizes in accordance with other embodiments of the present invention.Exemplary carriers may further not define a cavity at all, as in theexample discussed above wherein the carrier comprises a spring having aplurality of coils, each configured to hold a unit dose package.

According to exemplary embodiments of the present invention, the unitdose blister is able to naturally sit in the storage apparatus 140, orunit dose blister mount, with its medication cavity down (e.g., wherethe storage apparatus 140 comprises the carrier 145 illustrated in anyof FIGS. 10-12, the cavity 143 of the carrier 145 may receive the unitdose medication). This orientation will position the unit dose blisterto lie substantially flat in a plane defined by the storage apparatus140 (e.g., the carrier 145), such as the horizontal plane, having itsidentification code and other printed drug information (i.e., theinformation displayed on the second side of the support panel of theunit dose blister) viewable from above. Because of this orientation,using the scanning technique discussed above, the picking system 201 ofa storage, retrieval and delivery system 100 can reliably read thebarcode, or similar identification code, on the medication withouthaving to reorient the medication in any way.

In addition, this position and containment offers a consistent, reliablemeans for the picking system 201 to vacuum pick (e.g., using the blisterremoval mechanism 242) the unit dose blister during the retrieval anddelivery process. Alternatively, removing the unit dose blister may bedone by flipping the storage apparatus 140, or unit dose blister mount,over, allowing the unit dose blister to fall into a predeterminedlocation (e.g., a container from which the unit dose blister may bedispelled out the front or back of the system into, for example, apatient-specific medication bin or container or a floor stockcontainer). In this exemplary embodiment, the picking system 201 maynever have to even contact the unit dose blister directly during theretrieval and delivery process. Where, for example, the unit doseblister is removed from the storage apparatus 140 using the one or morevacuum generators and vacuum cups, the storage apparatus 140 may furthercomprise one or more holes 144 (shown in FIG. 10A) strategically locatedbelow where the vacuum cups contact the storage apparatus 140, whereinthe holes are designed to prevent the vacuum cups from sealing to thestorage apparatus 140 and preventing the unit dose blister from beingremoved.

In one exemplary embodiment, the unit dose blister mount 140, or storageapparatus, is designed such that a free floating unit dose blistercannot flip, rotate more than 45° in either direction from a centeredposition in which the medication is centered within the cavity, or movepast the centerline 147 of the cavity 143 (i.e., a line extendingthrough the center 148 of the cavity 143 in a direction perpendicular tothe unit dose blister mount 149), once the unit dose medication of theunit dose blister has been received by the cavity 143. Thus, while theposition of the identification code carried by the unit dose blisterwill vary somewhat, the range of possible positions of theidentification code is sufficiently limited and the identification coderemains in substantially the same plane (defined by the carrier 145)when in any of the possible positions such that the identification codecan consistently be read by the identification code reader.

As shown in FIG. 13, the storage apparatus 140 of one exemplaryembodiment, may act as a drawer for the unit dose blisters. In otherwords the storage apparatus 140 is capable of being pulled from itsnested position within the storage system 102 with one linear movement.

As noted above, the storage apparatus 140 may include a single cavity,or several cavities, each configured to receive a plurality of differenttypes of unit dose medications. An advantage to having only one cavityis that each unit dose blister in the system, whether being stored ortransported, is located in its own reusable container. Single-cavitystorage apparatuses also lend themselves well to storing, as shown inFIG. 14, which illustrates one method of storing single-cavity storageapparatuses of the shape illustrated in FIG. 10C. As shown, the smallsize of a single-cavity storage apparatus lends itself well to stackingin, for example, a tube; thus offering dense storage where likemedications may be grouped. Alternatively, the small single-cavitystorage apparatuses may be separated by dividers and stored in an arrayof pigeon holes (i.e., mail slots), in which the picking system 102 mayhave random access in order to remove any single storage apparatus 140at any given time. In order to increase the storage density, the pigeonhole may closely match the profile of the storage apparatus 140. Thepicking system 201 may, in this exemplary embodiment, be required toremove the storage apparatus 140 from the pigeon hole prior todispensing the unit dose blister, rather than inserting, for example,the blister removal mechanism 242 into the pigeon hole to retrieve themedication.

By contrast, an advantage to a multiple-cavity storage apparatus 140 maybe that the picking system 102 not only has random access to the singledose medications via the pigeon hole configuration described above, butthe picking system 102 would have the additional ability to pick morethan one medication at a time. As the number of cavities in a storageapparatus increases, other additional advantages may come into play,such as the fact that the storage apparatuses can be batched into largegroups increasing the storage, retrieval and delivery system's 100throughput.

The storage apparatus 140 of one exemplary embodiment may furtherinclude an identification marker (not shown), such as a barcode or radiofrequency identification (RFID) label or tag that is configurable tocorrespond to the medication(s) housed therein. In addition, the storageapparatus 140 of another exemplary embodiment may include a retentionmechanism, such as a clamp, lid or other feature used to hold the unitdose blister in place. Respective storage apparatuses 140 of anotherexemplary embodiment may further include one or more clipping mechanisms149 that are capable of retaining the storage apparatus 140 within thestorage system 102 while the storage system 102 is in motion (e.g.,while the carousel is turning).

Method of Retrieving and Delivering Unit Dose Medications:

Reference is now made to FIG. 15, which illustrates the steps which maybe taken in order to store, retrieve and deliver unit dose packages,such as unit dose blisters, in their natural, raw state in accordancewith exemplary embodiments of the present invention. As above, thefollowing method is described in terms of unit dose blisters, but shouldnot be taken as limiting the scope of exemplary embodiments of thepresent invention to use of unit dose blisters. In contrast, other typesof unit dose packages (i.e., packages used to store unit dosemedications) may similarly be used in accordance with exemplaryembodiments of the present invention without departing from the spiritand scope of the present invention.

As shown in FIG. 15, the process of one exemplary embodiment beginswhere, in Step 1501, a plurality of unit dose blisters of differentshapes and sizes are disposed in respective unit dose blister mounts,for example, of the form discussed above. For example, the unit doseblister may be deposited in a carrier disposed within or otherwiseassociated with a respective storage location with its unit dosemedication, or medication cavity, down (i.e., within the cavity of thecarrier), such that the support panel of the unit dose blister will liesubstantially flat in the horizontal plane enabling the barcode, orsimilar identification code, and/or other identification information,displayed on the unit dose blister to be viewable from above. Asdiscussed above, other means for disposing unit dose blisters in arepeatable, predetermined orientation, such that the identification codeof the unit dose blister can be readily scanned and the unit doseblister itself can be easily handled by a robotic picking system, canlikewise be used without departing from the spirit and scope of thepresent invention. This would include, for example, disposing the unitdose blisters in respective coils of one or more springs that arealigned to form rows and columns in a manner similar to a vendingmachine.

In Step 1502, the identification code (e.g., barcode, RFID tag, text, orthe like) associated with a patient-specific medication bin or containeris read in order to determine the identity of a patient for which aprescription is to be filled. The identification code may, for example,store a unique patient identification code. The patient-specificmedication container may, for example, be moving on a conveyor beltassociated with the storage, retrieval and delivery system discussedabove, such that when the container reaches a specified point, theidentification code is automatically read to retrieve the identificationinformation. In another exemplary embodiment, not shown, the container(referred to herein as a “floor stock container”) may be associated witha particular cabinet or medication room within a hospital, or similarinstitution, that needs to be restocked. In other words, scanning theidentification code of the floor stock container may identify the one ormore unit dose medications necessary to restock the correspondingcabinet or medication room, rather than providing information relatingto a specific patient.

Returning to FIG. 15, using the identity of the patient, in Step 1503, alist of one or more unit dose medications necessary to fill theidentified patient's prescription is retrieved. As discussed above, inone exemplary embodiment a controller associated with the storage,retrieval and delivery system may store information identifying one ormore patients, as well as a corresponding description of the one or moremedications required by that patient within a given period of time. Step1503 may, therefore, involve accessing this information in order todetermine which medications correspond with the identified patient.

In exemplary embodiments, Steps 1502 and 1503 may be sidestepped where,for example, a pharmacist or pharmacy technician manually inputs eitherthe unique patient identification code associated with a particularpatient, or the actual list of medications to be retrieved. This may bedone, for example, where the pharmacist or pharmacy technician wants asingle prescription filled immediately (i.e., not as part of the routinedaily prescription fills—e.g., in the case of an emergency or as a firstdose).

A location of the unit dose blister corresponding with the first unitdose medication is then determined, in Step 1504. In particular, thismay involve determining a location in, for example, the storage systemdescribed above, associated with a unit dose blister mount holding theunit dose blister (e.g., in the form of X, Y and Z coordinates). Wherethe unit dose blister mount includes two or more cavities for receivingunit dose medications, this step may further include determining inwhich cavity the unit dose medication is held.

Once the location of the unit dose medication has been determined, thepicking system may be moved to that location (Step 1505), and the unitdose blister mount may at least partially be removed from the storagesystem (Step 1506). In particular, as discussed above, in one exemplaryembodiment, the picking system of a retrieval and delivery system mayinclude a mount removal mechanism configured to extend to a locationproximate the unit dose blister mount, to grip the handle of the unitdose blister mount, and to retract once the unit dose blister mount hasbeen gripped. In removing the unit dose blister mount, the mount removalmechanism may deliver the unit dose blister mount to a predefinedlocation so that the identification code (e.g., barcode, RFID tag, textor the like) displayed on the unit dose blister held by the unit doseblister mount can be read (e.g., to present the unit dose blister to theZ-Axis component). In one exemplary embodiment, this may involvecompletely disengaging the unit dose blister mount from the storagesystem and moving it to, for example, an inspection station.Alternatively, in another exemplary embodiment, the unit dose blistermount may be partially retained by the storage system while thefollowing steps are performed.

In Step 1507, the identification code of the unit dose blister is readby the picking system, for example, in the manner discussed above, inorder to determine the identity of the unit dose medication packaged inthe unit dose blister. It is then verified, in Step 1508, that thecorrect medication has been located. If the correct medication has beenlocated, the unit dose blister is removed from the unit dose blistermount, for example using the blister removal mechanism discussed above,(Step 1509) and delivered to the patient-specific medication container(Step 1510). In particular, the unit dose blister may first be deliveredto a container associated with the overall storage, retrieval anddelivery system, and from which it can be dispelled out the back of thesystem into the patient-specific medication container, which is beingcarried by a conveyor belt. Alternatively, as noted above, the containerinto which the unit dose blister is ultimately dispelled may comprise afloor stock container associated not with a specific patient, butinstead with a particular cabinet or medication room needing restocking.As yet another alternative, in the exemplary embodiment discussed abovewherein a pharmacist or pharmacy technician has manually requested thatthe medication be retrieved (i.e., sidestepping Steps 1502 and 1503 inthe event of an emergency or in order to fill a first dose), the unitdose blister may be individually dispelled from the first container, forexample, out a chute on the front of the storage, retrieval and deliverysystem.

Returning to FIG. 15, it is then determined, in Step 1511, whether thepatient's entire prescription has been filled. If the prescription hasnot been completely filled, the process repeats Steps 1504-1510. If, onthe other hand, all of the unit dose medications needed for theparticular patient have been retrieved, the process ends, at Step 1512.The patient-specific medication container is then ready to be moved, forexample, to a checking station where it is again verified that thecorrect medications have been retrieved and, finally, to be delivered toa nurse for delivery to the patient.

The present invention also lends itself to various alternativeembodiments. For example, the picking system may be configured such thatthe unit dose blister mount and the corresponding unit dose blisterremains in the storage location while the identification code is readand verified with the unit dose blister being removed from the unit doseblister mount and delivered only once the medication has been verified.Alternatively, the unit dose blister could be stored loosely, i.e.,independent of a unit dose blister mount, with the unit dose blisterbeing removed from the storage location by the picking system andtransported to a predefined location at which the unit dose blister isdisposed within the unit dose blister mount. In this regard, the unitdose blister mount may have various configurations such as the carrierdescribed above, or a clip or other mechanism for holding unit doseblisters in a repeatable fashion such that the identification code isdisposed in a predetermined plane.

CONCLUSION

As described above, the method, system and apparatus of exemplaryembodiments enable a pharmacy, a hospital or the like to store, retrieveand delivery unit dose blisters that have not be over-wrapped orrepackaged. Unit dose blisters of various shapes and sizes are handledin their natural, raw state, thus taking advantage of the identificationinformation currently displayed on each individual unit dose blister andcutting down on material costs and technician and pharmacist timeassociated with over-wrapping or repackaging, as well as with validatingthe process.

Many modifications and other embodiments of the inventions set forthherein will come to mind to one skilled in the art to which theseinventions pertain having the benefit of the teachings presented in theforegoing descriptions and the associated drawings. Therefore, it is tobe understood that the inventions are not to be limited to the specificembodiments disclosed and that modifications and other embodiments areintended to be included within the scope of the appended claims.Although specific terms are employed herein, they are used in a genericand descriptive sense only and not for purposes of limitation.

1. A method of scanning an identification code of an unknownorientation, said method comprising: locating an edge of a surface of anitem on which the identification code is displayed, wherein the item islocated in a carrier, and locating the edge of the surface of the itemcomprises locating the edge of the item based at least in part on acontrast in brightness between the surface of the item and the carrier;and scanning one or more optical signals across the item in a predefineddirection relative to the edge.
 2. The method of claim 1, wherein thepredefined direction is selected from a group consisting ofsubstantially parallel to the edge and substantially perpendicular tothe edge.
 3. The method of claim 2 further comprising: continuing toscan the optical signals across the item in the predefined directionrelative to the edge until the identification code is located orsubstantially the entire surface of the item has been scanned.
 4. Themethod of claim 3 further comprising, where substantially the entiresurface of the item has been scanned and the identification code has notbeen located: scanning one or more optical signals across the item in adirection substantially perpendicular to the predefined directionrelative to the edge until the identification code is located.
 5. Themethod of claim 1, wherein the item comprises a unit dose packageconfigured to hold a unit dose medication, and wherein the carriercomprises a unit dose package mount configured to position a pluralityof different types of unit dose packages of different shapes and sizes,such that respective unit dose packages are repeatably maintained in apredetermined plane.
 6. The method of claim 1, wherein scanning theoptical signals across the item comprises generating a plurality ofoptical signals and directing the optical signals to the item, such thatthe optical signals form an oblique angle with respect to the item uponreflection off of the item.
 7. The method of claim 6 further comprising:automatically changing a focal distance associated with the opticalsignals.
 8. A system for scanning an identification code of an unknownorientation, said system comprising: a carrier configured to hold anitem; a code reader configured to locate an edge of a surface of theitem on which the identification code is displayed based at least inpart on a contrast in brightness between the surface of the item and thecarrier; and scanning one or more optical signals across the item in apredefined direction relative to the edge.
 9. The system of claim 8,wherein the predefined direction is selected from a group consisting ofsubstantially parallel to the edge and substantially perpendicular tothe edge.
 10. The system of claim 8, wherein the code reader is furtherconfigured to continue scanning the optical signals across the item inthe predefined direction relative to the edge until the identificationcode is located or substantially the entire surface of the item has beenscanned.
 11. The system of claim system of claim 10, wherein the codereader is further configured, where substantially the entire surface ofthe item has been scanned and the identification code has not beenlocated, to scan one or more optical signals across the item in adirection substantially perpendicular to the predefined directionrelative to the edge until the identification code is located.
 12. Thesystem of claim 8, wherein the item comprises a unit dose packageconfigured to hold a unit dose medication, and wherein the carriercomprises a unit dose package mount configured to position a pluralityof unit dose packages of different shapes and sizes, such thatrespective unit dose packages are repeatedly maintained in apredetermined plane, said system comprising a system for retrieving anddelivering the plurality of unit dose packages.
 13. The system of claim8, wherein, in order to scan the optical signals across the item, thecode reader is further configured to generate a plurality of opticalsignals and to direct the optical signals to the item, such that theoptical signals form an oblique angle with respect to the item uponreflection off of the item.
 14. The system of claim 13, wherein the codereader is further configured to change a focal distance associated withthe optical signals.
 15. A system for scanning an identification code ofan unknown orientation, said system comprising: a carrier configured tohold an item displaying an identification code on a surface of the item;and a code reader configured to locate at least a first and a secondedge of the surface of the item based at least in part on a contrast inbrightness between the surface of the item and the carrier, wherein thefirst edge is substantially perpendicular to the second edge, said codereader further configured to scan one or more optical signals across theitem in a direction substantially parallel to the first edge of thesurface until the identification code is located or substantially theentire surface of the item has been scanned, said code reader furtherconfigured, where substantially the entire surface of the item has beenscanned and the identification code has not been located, to scan one ormore optical signals across the item in a direction substantiallyparallel to the second edge until the identification code is located.16. The system of claim 15, wherein the item comprises a unit dosepackage configured to hold a unit dose medication, and wherein thecarrier comprises a unit dose package mount configured to position aplurality of unit dose packages of different shapes and sizes, such thatrespective unit dose packages are repeatedly maintained in apredetermined plane, said system comprising a system for retrieving anddelivering the plurality of unit dose packages.
 17. An apparatus forscanning an identification code of an unknown orientation, saidapparatus comprising: a carrier configured to hold an item; means forlocating an edge of a surface of the item on which the identificationcode is displayed based at least in part on a contrast in brightnessbetween the surface of the item and the carrier; and means for scanningone or more optical signals across the item in a predefined directionrelative to the edge.
 18. The apparatus of claim 17, wherein thepredefined direction is selected from a group consisting ofsubstantially parallel to the edge and substantially perpendicular tothe edge.
 19. The apparatus of claim 17 further comprising: means forcontinuing to scan the optical signals across the item in the predefineddirection relative to the edge until the identification code is locatedor substantially the entire surface of the item has been scanned. 20.The apparatus of claim 19 further comprising, where substantially theentire surface of the item has been scanned and the identification codehas not been located: means for scanning one or more optical signalsacross the item in a direction substantially perpendicular to thepredefined direction relative to the edge until the identification codeis located.
 21. The apparatus of claim 17, wherein the item comprises aunit dose package configured to hold a unit dose medication, and whereinthe carrier comprises a unit dose package mount configured to position aplurality of different types of unit dose packages of different shapesand sizes, such that respective unit dose packages are repeatablymaintained in a predetermined plane.
 22. The apparatus of claim 17,wherein the means for scanning the optical signals across the itemcomprises a code reader configured to generate a plurality of opticalsignals and to direct the optical signals to the item, such that theoptical signals form an oblique angle with respect to the item uponreflection off of the item.
 23. The apparatus of claim 22 furthercomprising: means for automatically changing a focal distance associatedwith the optical signals.